#ifndef QINGLONGTROBOT_H
#define QINGLONGTROBOT_H

#include <QObject>
#include <QJsonObject>
#include <QJsonDocument>
#include <QDebug>
#include "jointitem.h"
#include <QMap>
#include <QHash>
#include "datajointgraph.h"
#include <readjoints.h>

class QingLongRobot : public QObject
{
    Q_OBJECT
public:
    explicit QingLongRobot(QObject *parent = nullptr);
    QJsonDocument toJson() const;
    void fromJson(const QJsonDocument &jsonObj);
public:
    void setArmJoint(const float* cValue);
private:
    static QingLongRobot *Instance;
    HeadJoint headjoint[10];
    // DataJointGraph m_dataJointGraph;

private:
    void _iniJoints();
signals:
    void signal_udpData(QByteArray);

};

#endif // QINGLONGTROBOT_H
